robot_model_loader::RobotModelLoader Class Reference

#include <robot_model_loader.h>

Classes
struct	Options
	Structure that encodes the options to be passed to the RobotModelLoader constructor. More...

Public Member Functions
const kinematics_plugin_loader::KinematicsPluginLoaderPtr &	getKinematicsPluginLoader () const
	Get the kinematics solvers plugin loader. More...
const robot_model::RobotModelPtr &	getModel () const
	Get the constructed planning_models::RobotModel. More...
const rdf_loader::RDFLoaderPtr &	getRDFLoader () const
	Get the instance of rdf_loader::RDFLoader that was used to load the robot description. More...
const std::string &	getRobotDescription () const
	Get the resolved parameter name for the robot description. More...
const srdf::ModelSharedPtr &	getSRDF () const
	Get the parsed SRDF model. More...
const urdf::ModelInterfaceSharedPtr &	getURDF () const
	Get the parsed URDF model. More...
void	loadKinematicsSolvers (const kinematics_plugin_loader::KinematicsPluginLoaderPtr &kloader=kinematics_plugin_loader::KinematicsPluginLoaderPtr())
	Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor. More...
	RobotModelLoader (const Options &opt=Options())
	Default constructor. More...
	RobotModelLoader (const std::string &robot_description, bool load_kinematics_solvers=true)
	~RobotModelLoader ()

Private Member Functions
void	configure (const Options &opt)

Private Attributes
kinematics_plugin_loader::KinematicsPluginLoaderPtr	kinematics_loader_
robot_model::RobotModelPtr	model_
rdf_loader::RDFLoaderPtr	rdf_loader_

Detailed Description

Definition at line 50 of file robot_model_loader.h.

Constructor & Destructor Documentation

robot_model_loader::RobotModelLoader::RobotModelLoader

(

const Options &

opt = Options()

)

Default constructor.

Definition at line 50 of file robot_model_loader.cpp.

robot_model_loader::RobotModelLoader::RobotModelLoader	(	const std::string &	robot_description,
		bool	load_kinematics_solvers = true
	)

Definition at line 42 of file robot_model_loader.cpp.

robot_model_loader::RobotModelLoader::~RobotModelLoader

(

)

Definition at line 55 of file robot_model_loader.cpp.

Member Function Documentation

void robot_model_loader::RobotModelLoader::configure ( const Options &  opt )

private

Definition at line 85 of file robot_model_loader.cpp.

const kinematics_plugin_loader::KinematicsPluginLoaderPtr& robot_model_loader::RobotModelLoader::getKinematicsPluginLoader ( ) const

inline

Get the kinematics solvers plugin loader.

Note

This instance needs to be kept in scope, otherwise kinematics solver plugins may get unloaded.

Definition at line 131 of file robot_model_loader.h.

const robot_model::RobotModelPtr& robot_model_loader::RobotModelLoader::getModel ( ) const

inline

Get the constructed planning_models::RobotModel.

Definition at line 100 of file robot_model_loader.h.

const rdf_loader::RDFLoaderPtr& robot_model_loader::RobotModelLoader::getRDFLoader ( ) const

inline

Get the instance of rdf_loader::RDFLoader that was used to load the robot description.

Definition at line 124 of file robot_model_loader.h.

const std::string& robot_model_loader::RobotModelLoader::getRobotDescription ( ) const

inline

Get the resolved parameter name for the robot description.

Definition at line 106 of file robot_model_loader.h.

const srdf::ModelSharedPtr& robot_model_loader::RobotModelLoader::getSRDF ( ) const

inline

Get the parsed SRDF model.

Definition at line 118 of file robot_model_loader.h.

const urdf::ModelInterfaceSharedPtr& robot_model_loader::RobotModelLoader::getURDF ( ) const

inline

Get the parsed URDF model.

Definition at line 112 of file robot_model_loader.h.

void robot_model_loader::RobotModelLoader::loadKinematicsSolvers

(

const kinematics_plugin_loader::KinematicsPluginLoaderPtr &

kloader = kinematics_plugin_loader::KinematicsPluginLoaderPtr()

)

Load the kinematics solvers into the kinematic model. This is done by default, unless disabled explicitly by the options passed to the constructor.

Definition at line 168 of file robot_model_loader.cpp.

Member Data Documentation

kinematics_plugin_loader::KinematicsPluginLoaderPtr robot_model_loader::RobotModelLoader::kinematics_loader_

private

Definition at line 146 of file robot_model_loader.h.

robot_model::RobotModelPtr robot_model_loader::RobotModelLoader::model_

private

Definition at line 144 of file robot_model_loader.h.

rdf_loader::RDFLoaderPtr robot_model_loader::RobotModelLoader::rdf_loader_

private

Definition at line 145 of file robot_model_loader.h.

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The documentation for this class was generated from the following files:

• robot_model_loader.h
• robot_model_loader.cpp